00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_IO_POINTS_PROCESSOR_H_ 00018 #define CARTOGRAPHER_IO_POINTS_PROCESSOR_H_ 00019 00020 #include <memory> 00021 00022 #include "cartographer/io/points_batch.h" 00023 00024 namespace cartographer { 00025 namespace io { 00026 00027 // A processor in a pipeline. It processes a 'points_batch' and hands it to the 00028 // next processor in the pipeline. 00029 class PointsProcessor { 00030 public: 00031 enum class FlushResult { 00032 kRestartStream, 00033 kFinished, 00034 }; 00035 00036 PointsProcessor() {} 00037 virtual ~PointsProcessor() {} 00038 00039 PointsProcessor(const PointsProcessor&) = delete; 00040 PointsProcessor& operator=(const PointsProcessor&) = delete; 00041 00042 // Receive a 'points_batch', process it and pass it on. 00043 virtual void Process(std::unique_ptr<PointsBatch> points_batch) = 0; 00044 00045 // Some implementations will perform expensive computations and others that do 00046 // multiple passes over the data might ask for restarting the stream. 00047 virtual FlushResult Flush() = 0; 00048 }; 00049 00050 } // namespace io 00051 } // namespace cartographer 00052 00053 #endif // CARTOGRAPHER_IO_POINTS_PROCESSOR_H_